Motor_v2/Robot_V2/device/Timer.cpp

#include "Timer.h"
#include "Can.h"
#include "FOC.h"
#include "Timer.h"
#include "gd32c10x.h"
#include "gd32c10x_gpio.h"
#include "gd32c10x_misc.h"
#include "gd32c10x_rcu.h"
#include "gd32c10x_timer.h"
#include "initial.h"

volatile u32 total_us100_counter = 0; // 总计数器，每100微秒增加1
extern u16 adc_value[7];
extern FOC_Controller FOC;
extern TaskScheduler scheduler;
extern CAN_transmiter CAN0_transmiter;
// 添加系统运行时间计数器
extern u32 cnt_test;

/**
 * @brief 设置引脚中断优先级
 * @return void
 *
 *设置引脚中断优先级
 */
void nvic_config(void) {
	/* 设置NVIC优先级分组，1位抢占优先级，3位响应优先级 */
	nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);
	/* 使能TIMER2中断，设置抢占优先级为1，子优先级为1 */
	nvic_irq_enable(TIMER2_IRQn, 0, 1);
	nvic_irq_enable(TIMER1_IRQn, 0, 2);
}

/**
 * @brief 配置定时器2-任务管理
 * @return void
 *
 *配置定时器2，用于定时执行FOC控制、采样、CAN发送等任务
 */
void TIMER2_config(void) {
	/* ----------------------------------------------------------------------------
	TIMER2 Configuration:
	TIMER2CLK = SystemCoreClock/120 = 1MHz, the period is 100us(100/1000000 =
	100us).
	----------------------------------------------------------------------------
  */
	timer_parameter_struct timer_struct;

	/* 使能TIMER2时钟 */
	rcu_periph_clock_enable(RCU_TIMER2);

	/* 复位TIMER2外设到默认状态 */
	timer_deinit(TIMER2);
	/* 初始化TIMER初始化参数结构体 */
	timer_struct_para_init(&timer_struct);
	/* TIMER2配置参数设置 */
	timer_struct.prescaler =
		TIMER2_PRESCALER; /* 预分频值：120分频(从0开始计数) */
	timer_struct.alignedmode = TIMER_COUNTER_EDGE;	  /* 边沿对齐模式 */
	timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
	timer_struct.period =
		TIMER2_PERIOD; /* 自动重装载值：100次计数(从0开始计数) */
	timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
	timer_init(TIMER2, &timer_struct);

	/* 清除更新中断标志位 */
	timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
	/* 使能更新中断 */
	timer_interrupt_enable(TIMER2, TIMER_INT_UP);

	/* 使能TIMER2 */
	timer_enable(TIMER2);
}

/**
 * @brief   配置TIMER2-任务管理中断
 * @return void
 */
void User_timer_init(void) {
	/* 配置TIMER2 */
	TIMER2_config();
	/* 配置TIMER2中断 */
	nvic_config();
}

/**
 * @brief   TIMER2-任务管理中断处理函数
 * @return void
 */
void TIMER2_IRQHandler(void) {
	// 检查更新中断标志并处理
	if (timer_interrupt_flag_get(TIMER2, TIMER_INT_UP) != RESET) {
		// 清除更新中断标志
		timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);

		// 每50us执行一次的操作 - 电机控制
		scheduler.taskFlags |=
			(1 << TASK_ANGLE_UPDATE) | (1 << TASK_VELOCITY_UPDATE);

		// 使用标志位控制，每100us执行一次其他任务
		static bool isEvenCall = false;
		isEvenCall = !isEvenCall;

		if (isEvenCall) {
			// 每100us执行一次的操作 - 保持原有频率

			scheduler.taskFlags |= (1 << TASK_MOTOR_CONTROL);
			switch (total_us100_counter) { // 每1ms执行的代码，负载均衡
			case 0: {
				scheduler.taskFlags |= (1 << TASK_MCU_TEMP_UPDATE);
				break;
			}
			case 1: {
				scheduler.taskFlags |= (1 << TASK_DRV_TEMP_UPDATE);
				break;
			}
			case 2: {
				scheduler.taskFlags |= (1 << TASK_VBUS_UPDATE);
				break;
			}
			case 3: {
				break;
			}
			case 9: {
				scheduler.taskFlags |= (1 << TASK_CAN_TRANSMIT);
				break;
			}
			}

			total_us100_counter++;
			if (total_us100_counter > 9) {
				total_us100_counter = 0;
				// 可以添加每1ms执行的代码，无负载均衡
				static u8 ms1_counter = 0;

				switch (ms1_counter) { // 每10ms执行的代码，负载均衡
				case 0: {
					scheduler.taskFlags |= (1 << TASK_THERMAL_CONTROL);
					break;
				}
				case 1: {
					scheduler.taskFlags |= (1 << TASK_MAGNETIC_CHECK);
					break;
				}
				case 2: {
					break;
				}
				}
				ms1_counter++;
				if (ms1_counter > 9) {
					ms1_counter = 0;
					// 可以添加每10ms执行的代码，无负载均衡
					static u8 ms10_counter = 0;
					ms10_counter++;
					if (ms10_counter > 9) {
						ms10_counter = 0;
						// 可以添加每100ms执行的代码
						static u8 sec_counter = 0;
						sec_counter++;
						if (sec_counter > 9) {
							sec_counter = 0;
							// 可以添加每1s执行的代码
						}
					}
				}
			}
		}
	}
}

/**
 * @brief  TIMER1-PWM GPIO配置函数
 */
void timer1_gpio_config(void) {
	// 时钟使能
	rcu_periph_clock_enable(RCU_GPIOA);
	rcu_periph_clock_enable(RCU_GPIOB);
	rcu_periph_clock_enable(RCU_AF);
	rcu_periph_clock_enable(RCU_TIMER1);

	// TIMER1 GPIO初始化
	gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
	gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
	gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_2);

	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ,
			  GPIO_PIN_0 | GPIO_PIN_12);
	gpio_bit_set(GPIOB, GPIO_PIN_0);
	gpio_bit_set(GPIOB, GPIO_PIN_12);

	/* 配置TIMER1完全重映射*/
	gpio_pin_remap_config(GPIO_TIMER1_FULL_REMAP, DISABLE);
}

/**
 * @brief  TIMER1-PWM 配置函数
 */
void timer1_pwm_config(void) {
	timer_parameter_struct timer_initpara;
	timer_oc_parameter_struct timer_ocinitpara;

	// 使能TIMER1时钟
	rcu_periph_clock_enable(RCU_TIMER1);

	// 复位TIMER1
	timer_deinit(TIMER1);

	// 配置TIMER1基本参数
	timer_struct_para_init(&timer_initpara);
	timer_initpara.prescaler = TIMER1_PRESCALER;		// 预分频器
	timer_initpara.counterdirection = TIMER_COUNTER_UP; // 向上计数
	timer_initpara.period = TIMER1_PERIOD;				// 计数周期
	timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
	timer_init(TIMER1, &timer_initpara);

	// 配置通道输出参数
	timer_channel_output_struct_para_init(&timer_ocinitpara);
	timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
	timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;

	// 配置三个通道为PWM模式
	timer_channel_output_config(TIMER1, TIMER_CH_0, &timer_ocinitpara);
	timer_channel_output_config(TIMER1, TIMER_CH_1, &timer_ocinitpara);
	timer_channel_output_config(TIMER1, TIMER_CH_2, &timer_ocinitpara);

	// 配置第四个通道(CH3)用于在PWM周期x%位置触发中断
	timer_ocinitpara.outputstate =
		TIMER_CCX_DISABLE; // 不输出PWM波形，仅用于触发中断
	timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
	timer_channel_output_config(TIMER1, TIMER_CH_3, &timer_ocinitpara);

	// 设置PWM模式和占空比
	timer_channel_output_mode_config(TIMER1, TIMER_CH_0, TIMER_OC_MODE_PWM0);
	timer_channel_output_mode_config(TIMER1, TIMER_CH_1, TIMER_OC_MODE_PWM0);
	timer_channel_output_mode_config(TIMER1, TIMER_CH_2, TIMER_OC_MODE_PWM0);
	timer_channel_output_mode_config(TIMER1, TIMER_CH_3,
									 TIMER_OC_MODE_PWM0); // CH3也设为PWM模式

	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0,
											TIMER1_DEFAULT_PULSE);
	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1,
											TIMER1_DEFAULT_PULSE);
	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2,
											TIMER1_DEFAULT_PULSE);
	// 设置CH3比较值为PWM周期x%位置
	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_3,
											TIMER1_CH3_COMPARE_VALUE);

	// 使能主输出和自动重载
	timer_primary_output_config(TIMER1, ENABLE);
	timer_auto_reload_shadow_enable(TIMER1);

	// 使能CH3比较中断
	timer_interrupt_enable(TIMER1, TIMER_INT_CH3);

	// 启动TIMER1
	timer_enable(TIMER1);
}

// 添加TIMER1-PWM中断处理函数
/**
 * @brief   TIMER1中断处理函数
 * @return void
 */
void TIMER1_IRQHandler(void) {
	// 检查CH3比较中断标志并处理
	if (timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_CH3) != RESET) {
		// 清除CH3比较中断标志
		timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_CH3);

		scheduler.taskFlags |= (1 << TASK_CURRENT_UPDATE);
		// 例如触发ADC采样或其他操作
	}
}

/*!
	\brief      set PWM
	\param[in]  channel: TIMER_CH_0/TIMER_CH_1/TIMER_CH_2/TIMER_CH_3 (valid
   values: 0, 1, 2, 3)
	\param[in]  pulse: PWM pulse value
	\param[out] none
	\retval     none
	\note       The channel parameter must be between 0 and 3 inclusive.
*/
void Set_Pwm(u16 channel, float duty_cycle) {
	float pulse = duty_cycle * TIMER1_PERIOD;

	if (channel <= 3) {
		timer_channel_output_pulse_value_config(TIMER1, channel, pulse);
	} else {
	} // Ensure channel is within valid range
}

/*!
	\brief      set PWM
	\param[in]  channel: TIMER_CH_0/TIMER_CH_1/TIMER_CH_2/TIMER_CH_3 (valid
   values: 0, 1, 2, 3)
	\param[in]  pulse: PWM pulse value
	\param[out] none
	\retval     none
	\note       The channel parameter must be between 0 and 3 inclusive.
*/
void Set_3Pwm(float duty_cycle0, float duty_cycle1, float duty_cycle2) {
	// 直接写寄存器
	TIMER_CH0CV(TIMER1) = (uint32_t)(duty_cycle0 * TIMER1_PERIOD);
	TIMER_CH1CV(TIMER1) = (uint32_t)(duty_cycle1 * TIMER1_PERIOD);
	TIMER_CH2CV(TIMER1) = (uint32_t)(duty_cycle2 * TIMER1_PERIOD);
}